CN111489589B - Vehicle anti-collision method, device, equipment and storage medium - Google Patents
Vehicle anti-collision method, device, equipment and storage medium Download PDFInfo
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- CN111489589B CN111489589B CN202010295223.0A CN202010295223A CN111489589B CN 111489589 B CN111489589 B CN 111489589B CN 202010295223 A CN202010295223 A CN 202010295223A CN 111489589 B CN111489589 B CN 111489589B
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Abstract
The application discloses a vehicle anti-collision method, a device, equipment and a storage medium, comprising the following steps: the method comprises the steps that a first vehicle obtains a first distance and running state information of the first vehicle, wherein the first distance is the distance between the first vehicle and intermediate equipment; receiving a second distance from the intermediate device and driving state information of the second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate device; and adjusting the running state of the first vehicle according to the acquired first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle. The first vehicle can acquire the related information of the second vehicle, so that whether the first vehicle and the second vehicle collide at the intersection of the traveling paths can be determined, the collision between the first vehicle and the second vehicle can be effectively avoided by timely adjusting the traveling state of the vehicle, and the traveling safety of the vehicle is improved.
Description
Technical Field
The present application relates to the field of vehicle collision technologies, and in particular, to a method, an apparatus, a device, and a storage medium for preventing vehicle collision.
Background
The problem of collision prevention of vehicles is always a problem that needs to be focused on the safety of vehicle running. However, in practical applications, it may be difficult for a vehicle to notice a vehicle colliding with the vehicle while the vehicle is traveling, and the probability of collision with another vehicle is reduced by observation, deceleration, or the like, depending on the driving experience of the driver. For example, when a vehicle travels to an intersection of two roads, the driver usually reduces the vehicle speed, so that when another vehicle is found to travel to the intersection, there is enough time to adjust the vehicle's travel state (e.g., reduce the vehicle to zero, etc.), thereby avoiding a collision with another vehicle.
However, only depending on the driving experience and observation ability of the driver, there is still a great risk of collision between vehicles, and especially in a scene with poor road conditions or weak light, the possibility of collision between two vehicles is increased, thereby reducing the driving safety of the vehicles.
Disclosure of Invention
The embodiment of the application provides a vehicle anti-collision method, a device, equipment and a storage medium, so that collision between a vehicle and other vehicles is avoided as far as possible, and the driving safety of the vehicle is improved.
In a first aspect, an embodiment of the present application provides a method for determining object information, where the method is applied to a first vehicle, and the method includes:
the first vehicle acquires a first distance and driving state information of the first vehicle, wherein the first distance is a distance between the first vehicle and the intermediate equipment;
the first vehicle receives a second distance from an intermediate device and driving state information of a second vehicle, wherein the second distance is a distance between the second vehicle and the intermediate device;
the first vehicle adjusts the running state of the first vehicle according to the first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle;
wherein a travel path between the first vehicle and the intermediate device and a travel path between the second vehicle and the intermediate device have an intersection.
In some possible embodiments, the first vehicle receiving the second distance from the intermediate device and the driving state information of the second vehicle includes:
the first vehicle sending an inquiry frame to the intermediate device;
the first vehicle receives a response frame sent by the intermediate device in response to the inquiry frame, wherein the response frame comprises the second distance and the driving state information of the second vehicle.
In some possible embodiments, the first vehicle acquiring the first distance comprises:
and the first vehicle determines the distance between the first vehicle and the intermediate equipment according to the inquiry frame and the response frame.
In some possible embodiments, the method further comprises:
the first vehicle transmits, to the intermediate device, driving state information of the first vehicle and the first distance.
In a second aspect, an embodiment of the present application further provides a vehicle collision avoidance method, where the method is applied to an intermediate device, and the method includes:
the intermediate device acquires travel state information of a second vehicle and a distance between the second vehicle and the intermediate device;
the intermediate device transmits, to a first vehicle, travel state information of the second vehicle and a distance between the second vehicle and the intermediate device.
In some possible embodiments, the intermediate device includes a first antenna having a first azimuth angle and a second antenna having a second azimuth angle, the first azimuth angle and the second azimuth angle being adjustable, the method further comprising:
the intermediate device receives, with the second antenna, traveling state information from the second vehicle and a distance between the intermediate device and the second vehicle;
then, the transmitting, by the intermediate device, the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device to the first vehicle includes:
the intermediate device transmits, to a first vehicle, travel state information of the second vehicle and a distance between the second vehicle and the intermediate device using the first antenna.
In a third aspect, an embodiment of the present application further provides a vehicle collision avoidance device, where the device is applied to a first vehicle, and the device includes:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first distance and the running state information of a first vehicle, and the first distance is the distance between the first vehicle and the intermediate equipment;
the receiving module is used for receiving a second distance from the intermediate equipment and driving state information of a second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate equipment;
the adjusting module is used for adjusting the running state of the first vehicle according to the first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle;
wherein a travel path between the first vehicle and the intermediate device and a travel path between the second vehicle and the intermediate device have an intersection.
In some possible embodiments, the receiving module includes:
sending an inquiry frame to the intermediate device;
and receiving a response frame sent by the intermediate device in response to the inquiry frame, wherein the response frame comprises the second distance and the driving state information of the second vehicle.
In some possible embodiments, the obtaining module is specifically configured to determine, according to the inquiry frame and the response frame, a distance between the first vehicle and the intermediate device.
In some possible embodiments, the apparatus further comprises:
a sending module, configured to send the driving state information of the first vehicle and the first distance to the intermediate device.
In a fourth aspect, an embodiment of the present application further provides a vehicle collision avoidance device, where the device is applied to an intermediate apparatus, and the device includes:
an acquisition module configured to acquire travel state information of a second vehicle and a distance between the second vehicle and the intermediate apparatus;
the transmitting module is used for transmitting the running state information of the second vehicle and the distance between the second vehicle and the intermediate equipment to the first vehicle.
In some possible embodiments, the intermediate device includes a first antenna having a first azimuth and a second antenna having a second azimuth, the first azimuth and the second azimuth being adjustable, the apparatus further including:
a receiving module configured to receive, with the second antenna, driving state information from the second vehicle and a distance between the intermediate apparatus and the second vehicle;
the transmitting module is specifically configured to transmit the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device to the first vehicle by using the first antenna.
In a fifth aspect, an embodiment of the present application further provides an apparatus, where the apparatus includes a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the vehicle collision avoidance method according to any one of the embodiments of the first aspect or the second aspect according to instructions in the program code.
In a sixth aspect, the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, where the computer program is used to execute the vehicle collision avoidance method described in any one of the foregoing first aspect and second aspect.
In the foregoing implementation manner of the embodiment of the present application, the first vehicle may obtain a first distance and driving state information of the first vehicle, where the first distance is a distance between the first vehicle and the intermediate device; meanwhile, the first vehicle receives a second distance from the intermediate device and the driving state information of the second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate device, and an intersection point exists between the driving path between the first vehicle and the intermediate device and the driving path between the second vehicle and the intermediate device; then, the first vehicle may adjust the driving state of the first vehicle according to the acquired first distance, the driving state information of the first vehicle, the second distance, and the driving state information of the second vehicle. The intermediate device can inform the first vehicle of the running state information of the second vehicle and the second distance between the intermediate device and the second vehicle, so that the first vehicle can determine whether the first vehicle and the second vehicle collide at the intersection point of the running path according to the information and the relevant information of the vehicle, the collision between the first vehicle and the second vehicle can be effectively avoided by timely adjusting the running state of the vehicle, and the running safety of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is an interaction diagram of two different paths in an embodiment of the present application;
FIG. 2 is a schematic diagram of an exemplary application scenario in an embodiment of the present application;
fig. 3 is a schematic flowchart of a method for preventing collision of a vehicle according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of an intermediate device in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle collision prevention device in an embodiment of the present application;
fig. 6 is a schematic structural diagram of another vehicle collision prevention device in the embodiment of the present application;
fig. 7 is a schematic hardware structure diagram of an apparatus in an embodiment of the present application.
Detailed Description
In practical applications, when two vehicles travel different paths and have an intersection, the two vehicles are at risk of collision at the intersection. As shown in fig. 1, the vehicle a and the vehicle B travel along different roads and are located at C at the intersection of two different paths, and there is a risk of collision between the vehicle a and the vehicle B at C.
Based on this, the embodiment of the application provides a method for preventing a vehicle from colliding, which aims to avoid the collision between the own vehicle and other vehicles as much as possible, thereby improving the safety of the vehicle in running. Specifically, the first vehicle (own vehicle) may obtain a first distance and driving state information of the first vehicle, where the first distance is a distance between the first vehicle and the intermediate device; meanwhile, the first vehicle receives a second distance from the intermediate device and the driving state information of the second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate device, and an intersection point exists between the driving path between the first vehicle and the intermediate device and the driving path between the second vehicle and the intermediate device; then, the first vehicle may adjust the driving state of the first vehicle according to the acquired first distance, the driving state information of the first vehicle, the second distance, and the driving state information of the second vehicle. The intermediate device can inform the first vehicle of the running state information of the second vehicle and the second distance between the intermediate device and the second vehicle, so that the first vehicle can determine whether the first vehicle and the second vehicle collide at the intersection point of the running path according to the information and the relevant information of the vehicle, the collision between the first vehicle and the second vehicle can be effectively avoided by timely adjusting the running state of the vehicle, and the running safety of the vehicle is improved.
As an example, the embodiment of the present application may be applied to an exemplary application scenario as illustrated in fig. 2. In this scenario, the vehicle a and the vehicle B travel on different roads, respectively, and there is an intersection point between the two travel paths, and the intermediate device C may be placed at the intersection point. When the vehicle a and the vehicle B respectively drive toward the intermediate device, the vehicle a may obtain the driving state information of the vehicle and the distance between the vehicle a and the intermediate device, and at the same time, the vehicle a may also obtain the distance between the vehicle B and the intermediate device and the driving state information of the vehicle B from the intermediate device, so that the vehicle a may determine whether a collision may occur with the vehicle B at the intersection point according to the current driving states of the vehicle a and the vehicle B according to the obtained information, and thus the occurrence of the collision may be avoided by timely adjusting the driving state of the vehicle (such as deceleration or acceleration, etc.), and the driving safety of the vehicle a and the vehicle B is improved. Similar to the vehicle a, the vehicle B may also perform a similar process to avoid the occurrence of a collision between the remaining vehicles a.
It is to be understood that the above scenario is only one example of a scenario provided in the embodiment of the present application, and the embodiment of the present application is not limited to this scenario. For example, in other possible scenarios, the intermediate device may be capable of communicating with three or more vehicles. In summary, the embodiments of the present application may be applied in any applicable scenario and are not limited to the scenario examples described above.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, various non-limiting embodiments accompanying the present application examples are described below with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 3, fig. 3 shows a schematic flow chart of a vehicle collision avoidance method in an embodiment of the present application. The method is exemplified by taking the example of avoiding collision between two vehicles, and the method specifically comprises the following steps:
s301: the first vehicle acquires a first distance and driving state information of the first vehicle, wherein the first distance is a distance between the first vehicle and the intermediate device.
Because the first vehicle may collide with the vehicle on the other driving path at the intersection point of the two driving paths in the driving process, the first vehicle can acquire relevant information to determine whether the first vehicle collides with the other vehicle at the intersection point, so that the driving state of the first vehicle can be adjusted in time to avoid collision.
In a specific implementation, the first vehicle may obtain, in real time, driving state information of the vehicle, where the driving state information may be, for example, information of a speed, an acceleration, a heading angle, and the like of the vehicle, and may be used to represent a current driving state of the vehicle. In practical applications, a plurality of sensors, such as a speed sensor, an acceleration sensor, etc., may be configured on the first vehicle, so that the first vehicle can obtain the required state driving information from the corresponding sensors configured on the first vehicle.
Meanwhile, the first vehicle can also acquire the distance between the first vehicle and the intermediate device. In an exemplary embodiment, the first vehicle and the intermediate device may each be equipped with an interrogator and a transponder. The interrogator of the first vehicle may send an interrogation frame to the intermediate device, which may receive the interrogation frame with the transponder and send a response frame to the first vehicle with the interrogator configured on the intermediate device. In this way, the first vehicle determines a distance, hereinafter referred to as a first distance, between the first vehicle and the intermediate device based on the query frame and the response frame, specifically, based on the sending time and the receiving time corresponding to the query frame and the response frame. Further, the travel speed of the first vehicle during the period of time may be considered, and the first distance may be determined in combination with the travel speed.
S302: the first vehicle receives a second distance from the intermediate device and the driving state information of the second vehicle, the second distance being a distance between the second vehicle and the intermediate device.
As for the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device (hereinafter referred to as a second distance), in this embodiment, the information may be sent to the first vehicle by the intermediate device, so that the first vehicle can acquire the relevant information of the second vehicle from the intermediate device.
In a specific implementation, the second vehicle may be provided with an interrogator and a responder, and after the second vehicle and the intermediate device are subjected to one-time communication by using the interrogator and the responder, the second vehicle may acquire the distance between the second vehicle and the intermediate device and may acquire the driving state information of the vehicle. It should be noted that the process of the second vehicle acquiring the second distance and the driving state information of the vehicle is similar to the specific implementation process of the first vehicle acquiring the first distance and the driving state information of the vehicle in step S301, and details are not repeated herein.
Then, the second vehicle may transmit the acquired second distance and the driving state information of the own vehicle to the intermediate device, for example, the second vehicle may transmit the inquiry frame to the intermediate device again, and the inquiry frame may include the second distance and the driving state information of the second vehicle, and the like. In this way, when the first vehicle sends the inquiry frame to the intermediate device again, the intermediate device may generate a corresponding response frame in response to the inquiry frame, and the response frame may include the second distance and the driving state information of the second vehicle, so that after receiving the response frame, the first vehicle may analyze the required related information of the second vehicle from the response frame.
In this embodiment, through adopting secondary radar response technique, can be so that the communication distance between intermediate equipment and the vehicle is far away to realize longer crashproof distance, first vehicle has sufficient time to carry out the adjustment of travel state, has further improved the security that the vehicle travel.
In this embodiment, the execution sequence of step S301 and step S302 is not limited, that is, step S301 and step S302 may be executed simultaneously, step S301 may be executed first and step S302 is executed first, or step S302 may be executed first and step S301 is executed first.
S303: and the first vehicle adjusts the running state of the first vehicle according to the acquired first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle, wherein a running path between the first vehicle and the intermediate equipment and a running path between the second vehicle and the intermediate equipment have an intersection.
Since there is a junction between the travel path of the first vehicle toward the intermediate device and the travel path of the second vehicle toward the intermediate device, and if the first vehicle and the second vehicle reach the junction at the same time, a collision may occur at the junction, for example, when the speed of at least one of the first vehicle and the second vehicle at the junction is too high, there may not be enough time and distance to decelerate, so that the first vehicle and the second vehicle collide at the junction.
Therefore, in this embodiment, after the first vehicle acquires the first distance, the driving state information of the first vehicle, the second distance, and the driving state information of the second vehicle, the time required for the first vehicle and the second vehicle to reach the intersection point may be calculated according to the information, and if it is determined that the first vehicle and the second vehicle will reach the intersection point at the same time, the current driving state of the first vehicle may be adjusted, for example, when the vehicle is currently in an acceleration state, that is, when the acceleration is a positive value, the acceleration may be reduced, or the driving speed of the vehicle may be reduced, so that the time for the first vehicle to reach the intersection point may be increased. At this time, because the time lengths of the first vehicle and the second vehicle traveling to the intersection are different, the first vehicle and the second vehicle reach the intersection at different time points in sequence, so that the first vehicle and the second vehicle can be prevented from colliding with each other.
In the above-described embodiment, the travel state control of one of the vehicles during travel is exemplarily described by taking the first vehicle as an example to adjust the travel state of the own vehicle. In practical applications, the second vehicle may also adjust the traveling vehicle of the host vehicle. For example, when the traveling speed of the first vehicle is low and the traveling speed of the second vehicle is high, the traveling speed of the first vehicle is increased to shorten the time period for the first vehicle to reach the intersection, and the traveling speed of the second vehicle is decreased to lengthen the time period for the second vehicle to reach the intersection, so that the time difference between the first vehicle and the second vehicle reaching the intersection can be further increased. Of course, in practical application, only one of the two devices may adjust the driving state of the vehicle, and in specific implementation, the adjustment may be determined according to the requirements of practical application, which is not limited in this embodiment.
In a further possible embodiment, the first vehicle can therefore also inform the second vehicle of its own driving state and the first distance via the intermediate device, so that the second vehicle also carries out an adjustment of the driving state. Specifically, after acquiring the driving state information of the first vehicle and calculating the first distance, the first vehicle may send the first distance and the driving state information of the first vehicle to the intermediate device, so that after the intermediate device receives the inquiry frame from the second vehicle, the intermediate device may send a response frame carrying the driving state information of the first vehicle and the first distance to the second vehicle, so that the second vehicle may acquire the related information of the first vehicle and adjust the driving state of the second vehicle in time.
In the above embodiment, the first vehicle transmits the information related to the own vehicle to the second vehicle through the intermediate device, and acquires the information related to the second vehicle sent by the second vehicle through the intermediate device. In other possible embodiments, the intermediate device may also obtain the related information of the first vehicle (i.e., the first distance and/or the driving state information of the first vehicle) and the related information of the second vehicle (i.e., the second distance and/or the driving state information of the second vehicle) in a unified manner; then, the intermediate device distributes the relevant information of the first vehicle and the relevant information of the second vehicle to the first vehicle, and distributes the relevant information of the first vehicle and the relevant information of the second vehicle to the second vehicle. It should be noted that, since the first vehicle and the second vehicle travel on two different paths, and the different paths are usually located at different positions of the intermediate device, when the intermediate device communicates with the first vehicle and the second vehicle, it may specifically be that two antennas with different azimuth angles are used to communicate with the first vehicle and the second vehicle, respectively. The antennas with different azimuth angles can communicate with vehicles with different azimuth angles, and the intermediate device can receive an inquiry frame sent by a first vehicle and send a response frame to the first vehicle by using a first antenna with a first azimuth angle, and receive an inquiry frame sent by a second vehicle and send a response frame to the second vehicle by using a second antenna with a second azimuth angle. Then, in the process of providing the information related to the second vehicle to the first vehicle by the intermediate device, the intermediate device may receive the driving state information and the second distance from the second vehicle by using the second antenna, and further transmit the driving state information and the second distance of the second vehicle to the first vehicle by using the first antenna. Similarly, when the intermediate device provides the information about the first vehicle to the second vehicle, the intermediate device may receive the travel state information and the first distance from the first vehicle using the first antenna and further transmit the travel state information and the first distance of the first vehicle to the second vehicle using the second antenna. The first azimuth angle and the second azimuth angle can be adjusted according to the requirements of practical application.
As an example, the intermediate device may have a hardware structure as shown in fig. 4. As shown in fig. 4, the intermediate device may have at least two antennas, and here, the intermediate device includes two antennas, namely an antenna 1 and an antenna 2, for example, it is understood that, in practical applications, the intermediate device may include multiple antennas, and each different antenna may have a different azimuth angle for detecting the vehicle information on the different directional lines. Wherein the antenna 1 can communicate with a first vehicle and the antenna 2 can communicate with a second vehicle. The antennas 1 and 2 may have different azimuth angles and correspond to different directions of the incoming vehicles. The antenna 1 is taken as an example, the interrogation frame signal received by the antenna 1 can reach the receiver 5 through the circulator 3, the signal processor 9 correspondingly processes the signal of the receiver 5, and the signal processor 9 can transmit a signal in response to the frame signal in the direction of the first vehicle through the transmitter 6, the signal can reach the antenna 1 through the circulator 3 and is radiated outwards by the antenna 1, so that the communication between the intermediate device and the first vehicle can be realized. Similarly, when the intermediate device communicates with the second vehicle, the communication may be implemented by using the antenna 2, the circulator 4, the receiver 7, the transmitter 8, and the signal processor 9, which is similar to the communication process between the intermediate device and the second vehicle and is not described herein again.
It should be noted that the intermediate device may further be configured with a 4G module 10, and the 4G module 10 may transmit the device status information of the intermediate device back to the central control device, so that a corresponding technician may monitor the operation condition of the intermediate device, and may find and perform maintenance processing in time when the intermediate device is abnormal.
In addition, in this embodiment, two sets of power supply mechanisms may be provided for the intermediate device. Normally, the intermediate device may be powered by the solar power supply module 11 and the power supply 12, and the solar power supply module 13 and the power supply 14 may be used as a hot standby, so that when the solar power supply module 11 and the power supply 12 fail, the solar power supply module 13 and the power supply 14 may be operated to continue to supply power to the intermediate device.
It should be noted that, in this embodiment, the intermediate device may specifically be one device, or may include multiple devices. When the intermediate device comprises a plurality of devices, taking the example that the intermediate device comprises a device 1 and a device 2, wherein the device 1 can communicate with a first vehicle to obtain a first distance corresponding to the first vehicle and the running state information of the first vehicle, and the device 2 can communicate with a second vehicle to obtain a second distance corresponding to the second vehicle and the running state information of the second vehicle, and the device 1 and the device 2 can communicate with each other, so that the device 1 can forward the first distance and the running state information of the first vehicle to the device 2, and then the device 2 forwards the information to the second vehicle, so that the second vehicle can obtain the relevant information of the first vehicle; similarly, device 2 may forward the second distance and the form status information of the second vehicle to device 1, which in turn forwards the information to the first vehicle by device 1 so that the first vehicle may obtain information about the second vehicle. In practical application, the intermediate devices can be arranged in a plurality according to specific application scenarios and are used for detecting information of vehicles on a plurality of different routes.
In this embodiment, the first vehicle may obtain a first distance and driving state information of the first vehicle, where the first distance is a distance between the first vehicle and the intermediate device; meanwhile, the first vehicle receives a second distance from the intermediate device and the driving state information of the second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate device, and an intersection point exists between the driving path between the first vehicle and the intermediate device and the driving path between the second vehicle and the intermediate device; then, the first vehicle may adjust the driving state of the first vehicle according to the acquired first distance, the driving state information of the first vehicle, the second distance, and the driving state information of the second vehicle. The intermediate device can inform the first vehicle of the running state information of the second vehicle and the second distance between the intermediate device and the second vehicle, so that the first vehicle can determine whether the first vehicle and the second vehicle collide at the intersection point of the running path according to the information and the relevant information of the vehicle, the collision between the first vehicle and the second vehicle can be effectively avoided by timely adjusting the running state of the vehicle, and the running safety of the vehicle is improved.
In addition, the embodiment of the application also provides a vehicle anti-collision device. Referring to fig. 5, fig. 5 is a schematic structural diagram illustrating a device for preventing collision of a vehicle in an embodiment of the present application, where the device 500 may be applied to a first vehicle, and the device 500 may specifically include:
an obtaining module 501, configured to obtain a first distance and driving state information of the first vehicle, where the first distance is a distance between the first vehicle and the intermediate device;
a receiving module 502, configured to receive a second distance from an intermediate device and driving state information of a second vehicle, where the second distance is a distance between the second vehicle and the intermediate device;
an adjusting module 503, configured to adjust a driving state of the first vehicle according to the first distance, the driving state information of the first vehicle, the second distance, and the driving state information of the second vehicle;
wherein a travel path between the first vehicle and the intermediate device and a travel path between the second vehicle and the intermediate device have an intersection.
In some possible embodiments, the receiving module 502 includes:
sending an inquiry frame to the intermediate device;
and receiving a response frame sent by the intermediate device in response to the inquiry frame, wherein the response frame comprises the second distance and the driving state information of the second vehicle.
In some possible embodiments, the obtaining module 501 is specifically configured to determine, according to the inquiry frame and the response frame, a distance between the first vehicle and the intermediate device.
In some possible embodiments, the apparatus 500 further comprises:
a sending module, configured to send the driving state information of the first vehicle and the first distance to the intermediate device.
It should be noted that, for the contents of information interaction, execution process, and the like between the modules and units of the apparatus, since the same concept is based on the method embodiment in the embodiment of the present application, the technical effect brought by the contents is the same as that of the method embodiment in the embodiment of the present application, and specific contents may refer to the description in the foregoing method embodiment in the embodiment of the present application, and are not described herein again.
In addition, the embodiment of the application also provides a vehicle anti-collision device. Referring to fig. 6, fig. 6 is a schematic structural diagram illustrating a device for preventing collision of a vehicle in an embodiment of the present application, where the device 600 may be applied to an intermediate device, and the device 600 may specifically include:
an obtaining module 601, configured to obtain driving state information of a second vehicle and a distance between the second vehicle and the intermediate device;
a sending module 602, configured to send, to a first vehicle, driving state information of the second vehicle and a distance between the second vehicle and the intermediate device.
In some possible embodiments, the intermediate device includes a first antenna having a first azimuth and a second antenna having a second azimuth, the first azimuth and the second azimuth being adjustable, the apparatus 600 further includes:
a receiving module configured to receive, with the second antenna, driving state information from the second vehicle and a distance between the intermediate apparatus and the second vehicle;
then, the sending module 602 is specifically configured to send the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device to the first vehicle by using the first antenna.
It should be noted that, for the contents of information interaction, execution process, and the like between the modules and units of the apparatus, since the same concept is based on the method embodiment in the embodiment of the present application, the technical effect brought by the contents is the same as that of the method embodiment in the embodiment of the present application, and specific contents may refer to the description in the foregoing method embodiment in the embodiment of the present application, and are not described herein again.
In addition, the embodiment of the application also provides equipment. Referring to fig. 7, fig. 7 is a schematic diagram illustrating a hardware structure of an apparatus in an embodiment of the present application, where the apparatus 700 may include a processor 701 and a memory 702.
Wherein, the memory 702 is used for storing computer programs;
the processor 701 is configured to execute the vehicle collision avoidance method according to the computer program in the above method embodiments.
In addition, the embodiment of the present application further provides a computer-readable storage medium, which is used for storing a computer program, where the computer program is used for executing the vehicle collision avoidance method described in the above method embodiment.
In the embodiments of the present application, the term "first" in the names of "first vehicle", "first antenna", "first distance", and the like is used only for name identification, and does not represent the first in sequence. The same applies to "second" etc.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only an exemplary embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (7)
1. A method for collision avoidance for a vehicle, the method being applied to a first vehicle, the method comprising:
the method comprises the steps that a first vehicle acquires a first distance and driving state information of the first vehicle, wherein the first distance is the distance between the first vehicle and an intermediate device;
the first vehicle receives a second distance from an intermediate device and driving state information of a second vehicle, wherein the second distance is a distance between the second vehicle and the intermediate device;
the first vehicle receiving a second distance from the intermediate device and driving state information of a second vehicle, including: the first vehicle sending an inquiry frame to the intermediate device; the first vehicle receives a response frame sent by the intermediate device in response to the inquiry frame, wherein the response frame comprises the second distance and the driving state information of the second vehicle; the second distance included in the response frame is that after the second vehicle and the intermediate device are determined through one-time communication, the second vehicle sends the response frame to the intermediate device through an inquiry frame;
the first vehicle acquires a first distance, comprising: the first vehicle determines the distance between the first vehicle and the intermediate equipment according to the inquiry frame and the response frame;
the first vehicle adjusts the running state of the first vehicle according to the first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle;
wherein a travel path between the first vehicle and the intermediate device and a travel path between the second vehicle and the intermediate device have an intersection.
2. The method according to any one of claim 1, further comprising:
the first vehicle transmits, to the intermediate device, driving state information of the first vehicle and the first distance.
3. A method for preventing collision of a vehicle, the method being applied to an intermediate device, the method comprising:
the intermediate device acquires travel state information of a second vehicle and a distance between the second vehicle and the intermediate device; the intermediate device acquiring running state information of a second vehicle and a distance between the second vehicle and the intermediate device includes: after the intermediate device is determined to be communicated with the second vehicle once, acquiring the running state information of the second vehicle and the distance between the second vehicle and the intermediate device through an inquiry frame sent by the second vehicle;
the intermediate device sends the running state information of the second vehicle and the distance between the second vehicle and the intermediate device to a first vehicle so that the first vehicle adjusts the running state of the first vehicle according to the first distance, the running state information of the first vehicle, the distance between the second vehicle and the intermediate device and the running state information of the second vehicle; the first distance is the distance between the first vehicle and the intermediate equipment determined by the first vehicle according to the inquiry frame and the response frame;
the intermediate device transmitting, to a first vehicle, traveling state information of the second vehicle and a distance between the second vehicle and the intermediate device, including: the intermediate device receives an inquiry frame sent by the first vehicle and sends a response frame to the first vehicle in response to the inquiry frame; the response frame comprises the running state information of the second vehicle and the distance between the second vehicle and the intermediate equipment;
the intermediate device includes a first antenna having a first azimuth and a second antenna having a second azimuth, the first azimuth and the second azimuth being adjustable, the method further comprising:
the intermediate device receives, with the second antenna, traveling state information from the second vehicle and a distance between the intermediate device and the second vehicle;
then, the transmitting, by the intermediate device, the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device to the first vehicle includes:
the intermediate device transmitting, to a first vehicle, travel state information of the second vehicle and a distance between the second vehicle and the intermediate device using the first antenna;
the travel path between the first vehicle and the intermediate device and the travel path between the second vehicle and the intermediate device have an intersection.
4. A vehicle collision prevention device, applied to a first vehicle, the device comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a first distance and the running state information of a first vehicle, and the first distance is the distance between the first vehicle and intermediate equipment; the first vehicle acquires a first distance, comprising: the first vehicle determines the distance between the first vehicle and the intermediate equipment according to the inquiry frame and the response frame;
the receiving module is used for receiving a second distance from the intermediate equipment and driving state information of a second vehicle, wherein the second distance is the distance between the second vehicle and the intermediate equipment; receiving a second distance from the intermediate device and driving state information of the second vehicle, including: the first vehicle sending an inquiry frame to the intermediate device; the first vehicle receives a response frame sent by the intermediate device in response to the inquiry frame, wherein the response frame comprises the second distance and the driving state information of the second vehicle; the second distance included in the response frame is that after the second vehicle and the intermediate device are determined through one-time communication, the second vehicle sends the response frame to the intermediate device through an inquiry frame;
the adjusting module is used for adjusting the running state of the first vehicle according to the first distance, the running state information of the first vehicle, the second distance and the running state information of the second vehicle;
wherein a travel path between the first vehicle and the intermediate device and a travel path between the second vehicle and the intermediate device have an intersection.
5. A vehicle collision avoidance apparatus, wherein the apparatus is applied to an intermediate device including a first antenna having a first azimuth and a second antenna having a second azimuth, the first azimuth and the second azimuth being adjustable, the apparatus comprising:
an acquisition module configured to acquire travel state information of a second vehicle and a distance between the second vehicle and the intermediate apparatus; the acquiring of the running state information of the second vehicle and the distance between the second vehicle and the intermediate apparatus includes: after the intermediate device is determined to be communicated with the second vehicle once, acquiring the running state information of the second vehicle and the distance between the second vehicle and the intermediate device through an inquiry frame sent by the second vehicle;
a receiving module configured to receive, with the second antenna, driving state information from the second vehicle and a distance between the intermediate apparatus and the second vehicle;
a sending module, configured to send, to a first vehicle, driving state information of the second vehicle and a distance between the second vehicle and the intermediate device, so that the first vehicle adjusts a driving state of the first vehicle according to a first distance, the driving state information of the first vehicle, the distance between the second vehicle and the intermediate device, and the driving state information of the second vehicle; the first distance is the distance between the first vehicle and the intermediate equipment determined by the first vehicle according to the inquiry frame and the response frame;
the transmitting, to a first vehicle, driving state information of the second vehicle and a distance between the second vehicle and the intermediate device includes: the intermediate device receives an inquiry frame sent by the first vehicle and responds to the inquiry frame to send a response frame to the first vehicle; the response frame comprises the running state information of the second vehicle and the distance between the second vehicle and the intermediate equipment;
the transmitting module is specifically configured to transmit, to a first vehicle, the driving state information of the second vehicle and the distance between the second vehicle and the intermediate device by using the first antenna; the travel path between the first vehicle and the intermediate device and the travel path between the second vehicle and the intermediate device have an intersection.
6. An apparatus, comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the vehicle collision avoidance method of claims 1-2, or claim 3, according to instructions in the program code.
7. A computer-readable storage medium for storing a computer program for executing the vehicle collision avoidance method according to claims 1 to 2, or 3.
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